ONCE (ONe-sided Cell End effector) Robotic Drilling System

The ONCE robotic drilling system utilizes a mass produced, high capacity industrial robot as the motion platform for an automated drilling, countersinking, and hole inspection machine for the skin to substructure join on the F/A-18E/F Super Hornet wing trailing edge flaps (TEF). Historically, robots have lacked the accuracy, payload capacity, and stiffness required for aerospace drilling applications. Recent improvements in positional accuracy and payload capacity, along with position and stiffness compensation, have enabled the robot to become an effective motion platform. Coupled with a servo-controlled multifunction end effector (MFEE), hole locations have successfully been placed within the specification's +/-0.060″ tolerance. The hole diameters and countersinks have proven to be very accurate, with countersink depth variation at 0.0025″ worst case.